{"id":"https://openalex.org/W7128631692","doi":"https://doi.org/10.48550/arxiv.2602.09227","title":"From Legible to Inscrutable Trajectories: (Il)legible Motion Planning Accounting for Multiple Observers","display_name":"From Legible to Inscrutable Trajectories: (Il)legible Motion Planning Accounting for Multiple Observers","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128631692","doi":"https://doi.org/10.48550/arxiv.2602.09227"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.09227","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125675681","display_name":"Ananya Yammanuru","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yammanuru, Ananya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125632567","display_name":"Maria Lusardi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lusardi, Maria","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050205557","display_name":"Nancy M. Amato","orcid":"https://orcid.org/0000-0001-5817-5290"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amato, Nancy M.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125650525","display_name":"Katherine Driggs-Campbell","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Driggs-Campbell, Katherine","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6488000154495239,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6488000154495239,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.14380000531673431,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.03840000182390213,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7584999799728394},{"id":"https://openalex.org/keywords/legibility","display_name":"Legibility","score":0.6633999943733215},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6251000165939331},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5593000054359436},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.48820000886917114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46700000762939453},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45809999108314514},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43320000171661377}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7584999799728394},{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.6633999943733215},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6251000165939331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6169999837875366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6054999828338623},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5946999788284302},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5593000054359436},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.48820000886917114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46700000762939453},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45809999108314514},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43320000171661377},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36570000648498535},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.34130001068115234},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2669999897480011},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2644999921321869},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26249998807907104}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.09227","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.09227","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.09227","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.09227","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,44,124],"cooperative":[1],"environments,":[2,46],"such":[3,47],"as":[4,48],"in":[5,49,96],"factories":[6],"or":[7,28,52,79],"assistive":[8],"scenarios,":[9],"it":[10,54],"is":[11,55,84,147],"important":[12,56],"for":[13,57],"a":[14,58,88,139,144,188],"robot":[15,59],"to":[16,20,36,60,65,73,86,109,142,149,156],"communicate":[17,62],"its":[18,63],"intentions":[19,64],"observers,":[21,102],"who":[22],"could":[23],"be":[24,107],"either":[25],"other":[26],"humans":[27],"robots.":[29],"A":[30],"legible":[31,148],"trajectory":[32,69,145,189],"allows":[33],"an":[34,41,71,82,174],"observer":[35,72,83,226],"quickly":[37],"and":[38,116,154,208,225],"accurately":[39],"predict":[40,75],"agent's":[42,77,93],"intention.":[43,94],"adversarial":[45],"military":[50],"operations":[51],"games,":[53],"not":[61],"observers.":[66,214],"An":[67],"illegible":[68,155],"leads":[70],"incorrectly":[74],"the":[76,92,114,129,164,181,206,213],"intention":[78],"delays":[80],"when":[81],"able":[85,108],"make":[87],"correct":[89],"prediction":[90],"about":[91],"However,":[95],"some":[97],"environments":[98],"there":[99],"are":[100],"multiple":[101,172],"each":[103,117,168],"of":[104,113,118,167,212,220],"whom":[105,119],"may":[106,120],"see":[110],"only":[111],"part":[112],"environment,":[115],"have":[121],"different":[122],"motives.":[123],"this":[125],"work,":[126],"we":[127],"introduce":[128],"Mixed-Motive":[130],"Limited-Observability":[131],"Legible":[132],"Motion":[133],"Planning":[134],"(MMLO-LMP)":[135],"problem,":[136],"which":[137],"requires":[138],"motion":[140],"planner":[141],"generate":[143,200],"that":[146,191,197,202],"observers":[150,157,224],"with":[151,158,205],"positive":[152],"motives":[153,160,207],"negative":[159],"while":[161,178],"also":[162,185],"considering":[163],"visibility":[165,210],"limitations":[166],"observer.":[169],"We":[170,184],"highlight":[171],"strategies":[173],"agent":[175],"can":[176,199],"take":[177],"still":[179],"achieving":[180],"problem":[182],"objective.":[183],"present":[186],"DUBIOUS,":[187],"optimizer":[190],"solves":[192],"MMLO-LMP.":[193],"Our":[194],"results":[195],"show":[196],"DUBIOUS":[198],"trajectories":[201],"balance":[203],"legibility":[204],"limited":[209],"regions":[211],"Future":[215],"work":[216],"includes":[217],"many":[218],"variations":[219],"MMLO-LMP,":[221],"including":[222],"moving":[223],"teaming.":[227]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-12T00:00:00"}
